Page 545 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition
P. 545
542 CHAPTER 20 Tooling and Sensor Deployment
FIGURE 20.6
(a) Open face (b) and gate-face cutting tools.
(Courtesy Webtool.)
FIGURE 20.7
Self-contained rotary cutter.
The suction foot (Figure 20.9) can hold an ROV to smooth surfaces, such as ship hulls, submarines, platform tubular, and pipelines. The high level of grip makes it suitable for a wide range of ROV inspection and cleaning tasks. The attachment arm is a three-function manipulator consisting of shoulder pitch, jaw, and extend. The foot has a flexible polyurethane molded cup, tolerant of marine growth and crustaceans, and able to attach to curved surfaces down to 400 mm (16 inches) diameter. The cup is mounted on a ball swivel joint to ease self-alignment on the target surface. The swivel can be hydraulically locked once suction is achieved for greater rigidity.
(Courtesy Seanic Ocean Systems.)
